Camera control method, camera control device, and non-transitory computer-readable storage medium

A non-transitory computer-readable storage medium storing a program that causes a computer to execute a process, the process comprising:

• performing first detection processing that detects a plurality of predetermined patterns from one or more images captured by a first camera;
• acquiring camera characteristic information on the first camera based on one or more first predetermined patterns, included in the plurality of predetermined patterns, successfully detected in the first detection processing;
• correcting the one or plurality of images based on the acquired camera characteristic information;
• performing second detection processing to detect one or more second predetermined patterns, included in the plurality of predetermined patterns, that failed to be detected in the first detection processing, the one or more second predetermined patterns being included in the one or more images on which the correcting has been performed;
• and
• updating the camera characteristic information based on the detected one or more second predetermined patterns.

A camera control device comprising:

• a memory;
• and
• a processor coupled to the memory and the processor configured to execute a process, the process including:
• obtaining a plurality of images of a real space within which at least one predetermined pattern is arranged;
• first detecting feature points of the at least one predetermined image pattern within the plurality of images;
• determining a feature pattern is successfully detected within an image when a number of feature points from the first detecting are equal to or greater than a specified value;
• determining the feature pattern fails to be detected within the image when the number of feature points from the first detecting are less than the specified value;
• acquiring camera characteristic information based on images in which the feature pattern is successfully detected;
• correcting the plurality of images based on the acquired camera characteristic information;
• second detecting feature points of the at least one predetermined pattern within the corrected plurality of images;
• determining a feature pattern is successfully detected within a corrected image of the corrected plurality of images when the number of feature points from the second detecting is equal to or greater than the specified value;
• updating the camera characteristic information based on images in which the feature pattern is successfully detected within the corrected plurality of images;
• and
• calibrating a camera based on the updated camera characteristic information, wherein
• a number of the corrected plurality of images in which the feature pattern is successfully detected is greater than a number of the images in which the feature pattern is successfully detected.